Manchester United legend Robson, who coached alongside Venables with England and Middlesbrough, paid tribute to his friend and former colleague as “someone who lived life with a smile on his face.”
Robson said: “Terry was a brilliant coach to work with and I learned so much from him. He was very good tactically, but also a great motivator and communicator.
“I first worked with him as a player when he was coaching with England Under-21s under Dave Sexton and they were both a great support to me when I broke my leg in my early years at West Brom.